Device system and method for exercising a seated user

ABSTRACT

A method and a tilting device for exercising a spinal column of a seated user. The method may include activating a tilting device included in a controllable chair to provide at least one exercise scheme that includes two or more repeatable tilting movements of a seat of the controllable chair around at least two different axes, a number of repetitions for each tilting movement, speed and amplitude of each tilting movement and causing repeatable movements to the pelvis of the seated user as to stimulate movements of all the vertebrae throughout the spinal column of the seated user. The continuous repeatable seat movements may cause the user&#39;s spinal column to move between the body&#39;s natural vertical midline into a convex shape.

FIELD OF THE INVENTION

Embodiments of the present invention relate to moveable seat modules, inparticular seat modules for exercising and activating the spine insitting position and controlling the movable seat to provide a sequenceof changes of sitting posture or position of a user thereof.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation in part of U.S. patent applicationSer. No. 14/872,189, filed on Oct. 1, 2015 and entitled DEVICE SYSTEMAND METHOD FOR CONTROLLING AND PROMPTING CHANGE OF SITTING POSITIONwhich is incorporated in its entirety herein by reference.

BACKGROUND OF THE INVENTION

In modern life, people spend a significant time of the day sitting in astill position, in many cases in a sitting position that may be harmful,or may cause discomfort, back pains, lower back muscles tightness andspasms, spinal tension or pressure on the cartilages between thevertebrae and on the vertebrae and even disc eruption and other spinalinjury.

Motion to the pelvis and the vertebras may relieve such pain and reducethe probability of injury. Thus, in order to avoid such spinal relatedpain, discomfort and injury, it is recommended to change the sittingposition from time to time, and to do some physical activity such aswalking, jumping etc., and to create a movement of all the vertebrasalong the spinal column. However, such physical activities are notalways possible, for example in work places, and people do not tend tochange their still sitting position until they feel discomfort or pain.

Several devices have been disclosed in order to prevent or treat thesymptoms of prolonged sitting such as a chair with a swing seat forchanging the position of a person sitting thereon. Other devices providea motored seat base for tiling in a predefined tilting scheme orarrangement a seat of a chair.

However, the known devices are limited in that they are not adaptable toeach user's needs and are not programmable. Furthermore, known devicesallow a limited range of movement such as along only a single axis oraround a single axis with a fixed and predefined tilting angle or range.Thus, only limited activating or tilting schemes are available to a userof such devices.

Prolonged chair sitting has become the main form of work in the moderneconomy and is continuously growing with no end in sight. The number ofsitting related injuries and loss of work days is a growing problem forworkers, employers and insurance companies alike. Many attempts havebeen made to create workstations that help alleviate the problem andthough some of them are more helpful than others, they all fall short.Some publications disclose task chairs that are adapted to help theperson exercise their lower back muscles while sitting in a chair butnot while working. The exercise is actively performed by the useragainst spring-loaded apparatuses and moving the lower back does notnecessarily move the spine in a waveform. All of these devices relied onthe user to initiate and maintain it, which is inconsistent and/oravoided altogether over time.

Some publications disclose mechanisms for adopting the positions of bedsand/or chairs. However, all these publications and devices are directedto adopt the bed and/or the chair to reach a desired final position,selected by the user.

Accordingly, there is a need for a method and a device that may allow aseated user to be exercised during working (e.g., in front of acomputer) while seated on a chair. Such a method and a device maypromote a person's back health and may help to prevent prolonged sittingrelated discomfort and injuries. The soft tissues of the spine such ascartilage and intervertebral discs need to keep their elasticity andflexibility in all directions for continued back health. These tissuesstay healthy only through exercises that supply them with spinal fluidsand on the other hand degenerate when they stay in sedentary positionfor prolonged periods. Sitting and working in a stationary position in atask chair is what most people do in the modern work place and it isimperative to find ways to keep the spinal column flexing and movingfluids through the column while sitting and working and not only in theGym after long hours of being immobile on a chair. Exercise andtherapeutic fields such as Yoga, Structural Integration and TheFeldenkrais Method® have taught ways to flex and exercise the spinalcolumn out of the office in the person's free time.

Therefore, a device and method that integrates exercising methods,during working, into the task chair of the modern office environment mayhave a great benefit.

SUMMARY OF EMBODIMENT OF THE INVENTION

Embodiments of the present invention provide a tilting device forcontrolling a seat and prompting a change in a sitting position.According to some embodiments, the tilting device may include a fixedportion, connectable to a base of a chair; a movable portion connectableto a seat of the chair; a joint, positioned between the fixed portionand the movable portion configured to allow relative movement of movableportion with respect to fixed portion around at least two axes; and atleast two actuators, each of the actuators connected at one end to thefixed portion and at another end to the movable portion; wherein theactuators are located in an angle with respect to each other andconfigured to allow tilting of the movable portion with respect to thefixed portion, around at least two axes. According to some embodimentsthe at least two axes are orthogonal to each other and to an axis of thebase of the chair. The device according to some embodiments may furtherinclude a controller configured to control the operation of the at leasttwo actuators. According to some embodiments the device may furtherinclude at least one sensor configured to send an indication to thecontroller when a weight is placed on a seat of the chair. The devicemay further include at least one orientation sensor, wherein theorientation sensor may be configured to interact with the controller.

According to some embodiments the at least one sensor may be at leastone of: a load cell and a gyroscope. According to some embodiments theindication received from the at least one sensor may further include atleast one of: the weight of an object placed on the seat and the weightdistribution over the seat.

Embodiments of the present invention provide a system for controlling aseat, adjusting and/or prompting a change in a sitting position. Asystem according to embodiments of the present invention may include atleast one chair with a tilting device, a computing device that mayinclude at least a controller and a memory; and a server computer. Thetilting device may be a tilting device as described herein, and thetilting device may be connected to the computing device to send signalsfrom the tilting device to the controller of the computing device and tosend instructions from the controller of the computing device to theactuators of the tilting device. According to some embodiments thememory of the computing device may store at least one of: tiltingschemes, users' weights, users' exercise scheme preferences, and users'treatment needs.

According to some embodiments, the system may include at least onesensor, the at least one sensor may be at least one of: a load cell, agyroscope and an accelerometer. According to some embodiments at leastone sensor may be configured to send an indication to the controllerwhen a weight is placed on a seat of the chair. The indication receivedfrom the at least one sensor may further include at least one of: theweight of an object placed on the seat, and the weight distribution overthe seat.

According to some embodiments, the controller of the computing devicemay be configured to determine the sitting position of a user based onthe weight distribution over the seat. According to some embodiments thecontroller may be configured to determine the identity of a user sittingon the seat, based on the received indications, for example, bycomparing the indications such as the distribution of weight over theseat and the weight of the object placed on the seat, to pre-storedvalues of weight and weight distribution associated with one or moreregistered or associated users of the tilting device. A registered orassociated user may be, for example, a user that completed aregistration process in which the user provided identifying information,such as weight, height, name, and gender, as well as other requiredinformation such as, for example, treatment needs, scheme preferencesand the like. According to one embodiment the identity of the user maybe selected from a pre-stored list of users associated with the chair.

A method of controlling a seat and prompting change of a sittingposition according to embodiments of the present invention may includereceiving by a controller of a tilting device connected to a chair, anindication that a user is sitting on the chair, from one or moresensors; selecting a tilting scheme by the controller; and tilting thetilting device according to the selected scheme. The tilting scheme mayinclude tilting the tilting device around at least two axes parallel tothe surface on which the chair is positioned when in operationalposition.

According to some embodiments the method may further includedetermining, by the controller, at least one of: a weight of the usersitting on the chair, and a sitting position of the user sitting on thechair, based on signals received from the one or more sensors. Themethod may further include determining the identity of the user from alist of users of the chair stored in a memory.

The selection of the tilting scheme may be based, according to someembodiments, on at least one of: weight of a user sitting on the chair,a sitting position of the user; identity of the user and manualselection by the user. The method according to some embodiments mayfurther include determining, by the controller, the duration the user issitting in a first sitting position; and tilting a seat of the chair, byone or more actuators of the tilting device, to prompt the user tochange his sitting position to a second sitting position.

Some aspects of the invention may be directed to a method of exercisinga spinal column of a seated user. In some embodiments, the method mayinclude: activating a controllable chair seat to provide at least oneexercising scheme and causing repeatable movements to the pelvis of theseated user as to stimulate movements of all the vertebrae throughoutthe spinal column of the seated user. In some embodiments, each exercisescheme may include: two or more repeatable tilting movements of the seatof the controllable chair around at least two different axes, a numberof repetitions for each tilting movement, speed and amplitude of eachtilting movement. In some embodiments, the continuous repeatable seatmovements cause the user's spinal column to move between the body'snatural vertical midline into a convex shape such that each vertebramoves relatively to the next vertebra therefore, the two spine endpointvertebrae remain stationary in their original natural vertical position,the entire spinal column changes into a convex shape based on these twoendpoints. In some embodiments, the controllable chair may include: afixed portion, connectable to a base of a chair; a movable portionconnectable to a seat of the chair; a joint; positioned between thefixed portion and the movable portion configured to allow relativemovement of movable portion with respect to fixed portion around the atleast two axes; at least two actuators, each of the actuators connectedat one end to the fixed portion and at another end to the movableportion. In some embodiments, the actuators are located in an angle withrespect to each other about the joint and configured to allow tilting ofthe movable portion with respect to the fixed portion, around at leasttwo different axes. In some embodiments, the controllable chair mayfurther include a programmable controller configured to: receive andexecute the exercise scheme; to modify programmable variables;communicate with the user and with the internet; control and manage theactuators.

Some additional aspects of the invention may be related to a tiltingdevice for controlling an exercising chair and prompting a sequence ofchanges in a sitting position of a user as to cause convex shapemovements of a spinal column of the user while sitting on the chair mayinclude: a fixed portion, connectable to a base of a chair; a movableportion connectable to a seat of the chair; a joint; positioned betweenthe fixed portion and the movable portion configured to allow relativemovement of movable portion with respect to fixed portion around atleast two axes and at least two actuators, each of the actuatorsconnected at one end to the fixed portion and at another end to themovable portion. In some embodiment wherein the actuators are located inan angle with respect to each other about the joint and configured toallow tilting of the movable portion with respect to the fixed portion,around at least two different axes. In some embodiment, the tiltingdevice may further include a controller configured to: receive one ormore exercise schemes, wherein each exercise scheme comprises: two ormore repeatable tilting movements of a seat of the controllable chairaround at least two different axes, a number of repetitions for eachtilting movement, speed and amplitude of each tilting movement, andcontrol at least one actuator to perform the one or more exerciseschemes.

In some embodiments, the tilting movement may include at least twotilting amplitudes for each of the at least two different axes. In someembodiments, each tilting movement amplitude may have a maximum range ofbetween −10 millimeters to +10 millimeters from horizontal position ofthe seat. In some embodiments, the tilting movements may include any oneof the following four cardinals: forward tilting, backward tilting,side-bending tilting and any combination of movements of these two. Insome embodiments, the tilting movements include a plurality of titlingdirections (cardinals) each being selected to tilt the pelvis of theseated user onto an imaginary hour on an imaginary clock. In someembodiments, the tilting movements may include any tilting direction in360 radial degrees of an imaginary circle. In some embodiments, every 5radial degrees may be associated with an hour on the imaginary clock.

In some embodiments, the two or more of repeatable tilting movements maybe continuous movements (e.g., exercising movements). In someembodiments, the two or more tilting movements may be selected to causeconvex shape movement to the spinal column of the seated user. In someembodiments, a predetermined resting period, for example, of at least 10minutes, may be conducted after completing any exercise scheme, forexample, by controlling the actuators to stop. In some embodiments, thetotal time of each exercise scheme is maximum 10 minutes. In someembodiments, the number of repetitions of each tilting movement is atleast 3. In some embodiments, some tilting movements may be modified(e.g., changes or removed) based on at least one of: age, physiologicalcondition, neurological conditions, mental state, or any other specificneeds.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features, and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanying drawings in which:

FIG. 1A is schematic illustration of a chair and a tilting deviceaccording to one embodiment of the present invention;

FIG. 1B is a detailed view of the tilting device of FIG. 1A according toembodiments of the present invention;

FIG. 1C is an illustration of a seat with an imaginary clock depicted onthe surface of the seat for illustration of tilting schemes according toembodiments of the present invention;

FIGS. 2A, 2B and 2C are illustrations of a tilting device in differentpositions, according to some embodiments of the present invention;

FIGS. 3A and 3B are illustrations of the effect of tilting of a device,according to some embodiments of the present invention, on the sittingposition of a user;

FIG. 4 is a high-level block diagram of a system for controlling a seatand adjusting position according to some embodiments of the presentinvention;

FIG. 5 is a high-level block diagram of an exemplary computing deviceaccording to embodiments of the present invention;

FIG. 6 is a flowchart of a method of controlling a seat and adjustingposture according to embodiments of the present invention;

FIG. 7A is a flowchart of a method of exercising a spinal column of aseated user according to some embodiments of the invention; and

FIG. 7B is a flowchart of a method of controlling an exercising chairand prompting an exercise scheme in a sitting position according to someembodiments of the invention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements.

DETAILED DESCRIPTION OF THE PRESENT INVENTION

In the following detailed description, numerous specific details are setforth in order to provide a thorough understanding of the invention.However, it will be understood by those skilled in the art that thepresent invention may be practiced without these specific details. Inother instances, well-known methods, procedures, and components have notbeen described in detail so as not to obscure the present invention.

Some aspects of the invention may be related to a method and a tiltingdevice for a controllable chair for exercising a spinal column of aseated user. Such a method and a tilting device may utilize the factthat a user is sitting straight looking at an electronic screen andnaturally wants to keep his/her head focused directly forward looking atthe screen immoveable but not locked in that position. The controllablechair may tilt the pelvis of the user at specific rates that may causethe spine to move around the body's midline and flex the spine vertebraeby vertebrae going up the column all the way to the back of the head.Then a seat of the controllable chair may reverse its direction and theflexing may start moving in the opposite direction all while the headstays in its straightforward position. This process may continue backand forth for a predetermined period and creates a convex shape movementthrough the spinal column. This exercise can be repeated in all 360degrees directions while the user stays sitting in upright positionworking in their workstation.

In some embodiments, the tilting movements of the device may cause theconvex shape through the spinal column. As used herein the convex shapemovement of the spinal column includes any movement or movements thatcauses each vertebra to move relatively to the next vertebra therefore,the two spine endpoint vertebrae remain stationary in their originalnatural vertical position, the entire spinal column changes into aconvex shape based on these two endpoints, as will discuss in detailswith respect to FIGS. 3A and 3B.

Reference is now made to FIG. 1A which is a schematic illustration of acontrollable chair 10 (e.g., an exercising chair) with a tilting device100 according to embodiments of the present invention and to FIG. 1Bwhich is a detailed view of tilting device 100 of FIG. 1A according toembodiments of the present invention. Tilting device 100 may include afixed portion, such as fixed surface 104 and a movable portion, such asmovable surface 102. As may be seen in FIG. 1A, according to oneembodiment of the present invention, movable portion 102 may bedetachably connected to a seat 12 of chair 10, and fixed portion 104 maybe detachably connected to a chair base, such as center post 14 of chair10. It should be appreciated that other chair bases may be used.

According to some embodiments of the present invention, movable portion102 may be tiltable with respect to the fixed portion 104, around ajoint 108 configured to allow movement of movable portion 102 around atleast two axes. Titling device 100 may further include a joint 108, thatmay be positioned, according to one embodiment, between fixed portion104 and movable portion 102, and substantially in the center of bothfixed portion 104 and movable portion 102, for example, along alongitudinal axis Z of center post 14. According to some embodimentsjoint 108 may be a spherical joint.

Joint 108 may be designed to allow movement of movable portion 102 withrespect to fixed portion 104 around at least two orthogonal imaginaryaxes X and Y which are parallel to the surface of movable portion 102and run through joint 108. Axes X and Y may also be orthogonal tolongitudinal axis Z of chair base, such as central post 14.

As may be seen in FIGS. 1A and 1B, tilting device 100 may include two ormore actuators 206A, 206B connected to movable portion 102 and to fixedportion 104. According to one embodiment of the present invention, eachone of actuators 206A, 206B may be connected to movable portion 102 viaan arm 106 a. According to one embodiment actuators 206A, 206B and/orarms 106 a may be connected to movable portion 102 in an angle of 90degrees about joint 108, around the Z axis between actuators 206A, 206Bor arms 106 a. According to another embodiment the angle betweenactuators 206A, 206B and/or arms 106 a may be 120 degrees. It should beappreciated that other relative angles may be used. According to someembodiments, each actuator 206 may be configured to tilt movable portion102 around one axis X or Y.

In some embodiments, tilting device 100 may further include a controller105. In some embodiments, controller 105 may be configured to controlactuators 206A, 206B to tilt seat 12 according to at least one exercisescheme. In some embodiments, controller 105 may be configured to receiveone or more exercise schemes, each exercise scheme may include: two ormore repeatable tilting movements of a seat of the controllable chairaround at least two different axes, a number of repetitions for eachtilting movement, speed and amplitude of each tilting movement, asdiscussed below herein with respect to the flowcharts of FIGS. 7A and7B. In some embodiments, controller 105 may be configured to executemethods according to any embodiment of the invention.

As may be seen in FIG. 1B, tilting device 100 may further include one ormore sensors 120. Each of sensors 120 may be for example a gyroscopewith an accelerometer board, a load cell, or any other sensor known inthe art, that is suitable for or configured to provide an indication toa controller 105, when pressure or movement is applied to one or more ofsensors 120. For example, according to one embodiment, one or moresensors 120 may provide signals (e.g., to controller 105) that mayindicate that a user is sitting on seat 12, and the weight of the usersitting on seat 12. According to some embodiments, the signals receivedfrom each sensor 120 may indicate the weight distribution of the userover the seat and may thus be used in order to determine the userssitting posture or position. For example, when a user is sitting on seat12 leaning towards one side, e.g. to the right, the pressure sensed by asensor 120 located on that side of the seat would indicate higherpressure than the sensor on the left, while when the user is sitting inan upright position the measurements by sensors 120 on both sides ofseat 12, would provide substantially identical or very closemeasurements.

According to another example, when one or more of sensors 120 are agyroscope with an accelerometer, a signal received from sensor 120 maybe indicative of the sitting position of a user, regardless of thelocation of the gyroscope and accelerometer. The indications receivedfrom sensors 120 at controller 105 may be used in order to controloperation of tilting device 100 (e.g. start tilting scheme or exerciseschemes when a user is sited and stop when a user stands up), determinethe appropriate tilting scheme or exercise schemes, for example, whenthe signals received from sensors 120 indicate that a user is sittingleaning to the left for more than a predefined time period, such as forexample, over 10 minutes. In situation such as described a tiltingscheme or an exercise schemes may be initiated and adapted to tilt theseat to the right so that the user would be prompted to change hissitting position. It should be appreciated that a user may set orprovide inputs to tilting device 100 and/or system 40 (in FIG. 4) not toprompt change of sitting position in such scenarios, or even todetermine in which specific cases to prompt a position change and inwhich cases not to prompt such change. Setting or providing input may bedone via a user interface of computing device 500 (e.g., FIGS. 4 and 5).In another example, the weight distribution between different sensors120 may indicate that the user is leaning backwards on backrest 16 orhaving one of his arms or both arms resting on armrests 18. A tiltingscheme, sequence, movement sequence, or arrangement may include one ormore sets of information describing the position of the variouscomponents of the chair, and possibly when, how, and how fast to movethe components from one set of positions to another. When used herein, atilting scheme, sequence, movement sequence, or arrangement may be theactual physical movements of the components and also may be the data orinstructions that cause such movements.

According to some embodiments, signals received from sensors 120 mayindicate the user's weight and/or weight distribution. Accordingly,tilting speed may be adjusted for example by controlling the powersupplied to actuators 206A, 206B and thus control the speed of actuators206A, 206B based on the user's weight distribution.

According to some embodiments, the tilting speed may be keptsubstantially constant throughout an exercise scheme or treatment cycle.The tilting speed may be maintained slow, such as, for example, no morethan 3 millimeters (mm) per second, or in terms of angular velocity nomore than 3.0/R radians per second, where R is the edge of theapparatus' distance from the center of tilting (e.g. the edge of movableportion 102 from joint 108). While it should be appreciated that when anexercise scheme or treatment cycle is initiated and ended someacceleration and deceleration are required, it may be a very slow linearacceleration and deceleration, such as, for example an acceleration ordeceleration of no more than 3 mm/s², or even 2 mm/s², an equivalent of3.0/R radians/s² or 2.0/R radians/s² of angular acceleration,respectively, where R is as defined above. Other speeds andaccelerations may be used. This may allow the user's body to get adaptedand organized to the changes in the lower body and may create andmaintain calm and safe environment so the movement is predictable andrepeatable for the brain. Furthermore, such substantially constant speedmay ensure better adaptation toward natural body movement, may decreaseor eliminate interferences to the work or any other activity the usermay be doing while sited, may reduce resistance of the body (muscles) tothe movement and thus, may reduce muscles tension and the like. Itshould be further appreciated that the slow and controlledacceleration/deceleration may prevent or reduce mechanical damage to theactuators and other moving parts. For example, according to someembodiments of the present invention a typical linear tilting movementmay have the following time duration characteristics: 1.5 secondsacceleration of 1-2 mm/s², 2 seconds constant speed of 1.5-3 mm/s, 1.5seconds deceleration of 1-2 mm/s². Other characteristics may be used.

In some embodiments, each tilting movement may include at least onetilting amplitude for each of the at least two different axes. In someembodiments, each tilting movement may include at least two tiltingamplitudes for each of the at least two different axes. In someembodiments, each tilting movement amplitude may have a maximum range ofbetween −10 millimeters to +10 millimeters from horizontal position ofthe seat.

It should be further appreciated that the user's weight indication maybe used by controller 105 of device 100 and/or by controller 505 ofcomputing device 500 (e.g. FIG. 5) to determine the identity of theuser, from a list of users associated with chair 10, and thus adapt thetilting scheme to the needs, preferences, and characteristics of eachidentified user. According to another embodiment, a user may logon forexample via input device (e.g., 535 in FIG. 5) of computing device 500.According to yet another embodiment, when weight-based identification isinapplicable, for example when the measured weight is associated withmore than one user, or with no user, the user may be requested bycomputing device 500 to identify himself. Such identification requestmay be presented on output device 540 of computing device 500, such as amonitor or a screen. It should be appreciated that the needs,preferences and characteristics of each user of tilting device 100 maybe pre-obtained and pre-stored in storage (such as storage 530 ofcomputing device 500 in FIG. 5 and/or of server 400 of system 40 in FIG.4). According to some embodiments, a memory or storage may be integralto controller 105 of tilting device 100.

According to some embodiments, tilting device 100 may includepositioning or orientation sensors 121, such as, for example, agyroscope or potentiometer, to provide controller 105 with feedbackregarding the position, orientation and/or angle of movable portion 102.It should be appreciated that the amplitude and angle of tilting ofmovable portion 102 may be limited within a predefined range such as forexample 5° in each direction around each axes X and Y. According to someembodiments, the range of the tilting angle may be different around eachaxis. For example, the maximum tilting angle around the X axis may be,for example ±5° while around the Y axis the maximum tilting angle may be±20°. According to other embodiments, a different tilting range may beset to each direction of tilting around a single axis. For example,around the Y axis, when tilting seat 12 forward the maximum tiltingangle may be 10° while when tilting seat 12 backwards around axis y, themaximum tilting angle may be 20°. It should be appreciated that othertilting angle limits or ranges may be used. Orientation sensor orsensors 121 may indicate, according to some embodiments, when theposition of movable portion 102 reaches a limit and may cause controller105 to stop actuators 206A, 206B. According to some embodiments, tiltingdevice 100 may further include limit switches in addition to or insteadof orientation sensor 121. It should be appreciated that the limitswitch or switches may stop operation of one or more actuators 206A,206B when the maximum tilting angle is reached. It should be appreciatedthat limit switch or switches may protect actuators 206A, 206B fromelectrical current or mechanical overload. According to someembodiments, tilting device 100 may further include a power cord 107, apower source such as battery 111, and a communication inlet or port suchas a USB connection port 112.

According to some embodiments, a safety or emergency stop button orswitch 170 (in FIG. 1A) may be connected to controller 105, via wired orwireless connection, and may be configured to stop operation of tiltingdevice 100.

As may be seen in FIG. 1B, actuators 206A and 206B may have a motor andgear section 106 b and an arm 106 a. Arm 106 a may be a piston, a screwor any other mechanism that may change the distance between a first endof the mechanism and a second end thereof. Other structures may be usedfor actuators.

It should be appreciated by those skilled in the art, that tiltingdevice 100 according to embodiments of the present invention, allowstilting movable portion 102 around two axis X and Y, and thus providesfor tilting of seat 12 forward, backward, sideways and to any directionin-between. For example, if seat 12 is marked, for illustrationpurposes, with an imaginary clock as seen in FIG. 1C, so that the twelveO'clock is at the front of the seat, the six O'clock is at the back ofthe seat (proximal to the seat backrest) the three O'clock is at theright side of the seat (proximal to the right armrest 18) and the nineO'clock is on the left side of seat 12, and actuator 206A is located,for example, at the twelve O'clock while actuator 206B is located, forexample, at the hour nine O'clock, tilting movable portion 102, and thusseat 12, for example, forward, to the twelve O'clock, refers to aposition of movable portion 102 in which the twelve O'clock is at alowered position, e.g. actuator 206A is contracted (e.g. arm 106 a iscontracted) and actuator 206B is idle. Similarly, when movable portion102 is tilted to the hour nine O'clock (so that the lower point ofmovable portion 102 is at the left side of movable portion 102),actuator 206B is contracted and actuator 206A is idle. It should beappreciated that the above tilting device allows tilting movable portion102 towards any imaginary hour of the imaginary clock by a combinationof extraction and/or contraction of actuators 206A and 206B located, forexample at the front of movable portion 102 and the left side of movableportion 102. For example, tilting movable portion 102 towards the onehour and half hour may be achieved by contracting actuator 206A andextracting actuator 206B. As may be understood, according to embodimentsof the present invention, a full circular motion may be achieved(clockwise or counter-clockwise) by changing the extraction and/orcontraction of each of actuators 206A, 206B in a coordinated mannerAccording to some tilting schemes, only an arc tilting scheme (forexample from hour three O'clock to nine O'clock through twelve O'clockand vice versa, from one O'clock to eleven O'clock through twelveO'clock, from five O'clock to seven O'clock through six O'clock and thelike) may be programmed and used in some cases. According to anotherscheme, a linear tilting scheme may be used. A linear tilting scheme isa scheme in which movable portion 102 tilts from a first position (e.g.from three O'clock) to a second position (e.g. to nine O'clock)directly, around an axis perpendicular to a line connecting theimaginary hours on the face of the imaginary clock. It should beappreciated that according to some embodiments, a tilting scheme may bea combination of arc, circular and linear tilting movements.

Reference is now made to FIGS. 2A, 2B and 2C illustrating tilting device100 in different positions. As seen in FIG. 2A tilting device 100 may bein a neutral position (e.g. in a position substantially parallel to thesurface on which a chair to which the tilting device is connected, ispositioned) when all actuators 206, such as for example, actuators 206Aand 206B are idle. In FIG. 2B actuator 206B is extracted while actuator206A is idle. FIG. 2C shows tilting device 100 in another tiltingposition in which actuator 206A is extracted and actuator 206B is idle,thus a different position of movable portion 102 relative to fixedportion 104 may be reached. It should be appreciated that othercombinations of extraction or contraction of at least actuators 206A and206B, may result in other tilting position of movable portion 102 withrespect to fixed portion 104. A tilting scheme, sequence, movementsequence, or arrangement may include one or more sets of informationdescribing the position of the various components of the chair, andpossibly when, how, and how fast to move the components from one set ofpositions to another. When used herein, a tilting scheme, sequence,movement sequence, or arrangement may be the actual physical movementsof the components and also may be the data or instructions that causesuch movements. According to embodiments of the present invention, atilting scheme may include for example a sequence of instructions tocontroller (e.g. 105 in FIG. 1A) to move, extract and/or contractactuators, motors, servos, latches, etc., at least one of actuators 206Aand 206B. For example, a sequence of instructions to controller 105 forexample, to repeatedly extract and contract actuator 206A whilemaintaining actuator 206B idle, may result in a linear tilting scheme. Adifferent sequence of instructions to extract and/or contract one ormore of actuators 206A and 206B may result in different tilting schemesas described herein.

FIGS. 3A and 3B are illustrations of the effect of tilting of tiltingdevice 100, according to some embodiments of the present invention, onthe sitting position and spinal movement of a user. In some embodiments,an exercise scheme may include two or more tilting movements that aimsto cause convex shape movement or position of the spinal column.Examples of various exercise scheme are given herein with respect toFIGS. 7A-7B. A Spinal Convex Shape may be defined by straight rod likeshape (e.g., the spinal column) positioned vertically that is curved orrounded outward in an arc shape between its two ends (e.g., the head andthe pelvis). As seen in FIGS. 3A and 3B, tilting of tilting device 100may cause a user to curve his or her back around a user's body midline300.

Body's midline 300 is an imaginary line that divides the body intohalves. It is known that the brain and the Central Nerve System (CNS)organize the body subconsciously around midline 300 to keep it balanced.However, the modern life style (primarily sitting for long timeperiods), injuries, pain, etc. causes the brain and the CNS to “lose”this natural ability to a certain degree. Thus, it should be appreciatedby those skilled in the art that slow and graduate tilting of thepelvis, may prompt a user of tilting device 100 to gradually organizehis body around the natural midline 300, and may move all 24 vertebraeof the spine. The natural response of the brain to the pelvis tilt is tomaintain the body on its vertical midline 300 by moving all thevertebrae in the spine column outward and form the convex shape of thespine while keeping the two end vertebrae on the original midline. Bydoing so, the convex shape of the spine is located between the two endsthat remain on the midline 300.

In some embodiments, a controllable chair that includes tilting device100 may cause the convex of the spine by creating two or more tiltingmovements of seat 12. In some embodiments, the two or more tiltingmovement of seat 12 may tilt the pelvis of the seated usercorrespondingly, and in turn the pelvis may cause the spine to move. Themovement of the spine may than trigger chain reaction movements of thevertebrae from bottom to top throughout the entire spine column.

As seen in FIG. 3A, which includes three side view illustrations,tilting movable portion 102 of tilting device 100 forward, as seen inillustration (3) may cause a user to curve his back backwards (e.g. toarch his or her back), neutral position of movable portion 102 promptsthe user to sit in an upright position, as illustrated in illustration(2), and tilting movable portion 102 backwards (as seen in illustration(1)), may prompt the user to curve his or her back forward (e.g. to ahumped position). As may be seen in illustration (1) on the left side ofFIG. 3A the back side of the seat is tilted down, causing the body toround (from the back's viewpoint) along the spine, counter-balancing thebackward tilting of the pelvis; on the center of FIG. 3A (illustration(2)) the seat is leveled horizontally, the spine remains in its uprightposition; on the right side of FIG. 3A (illustration (3)) the front sideof the seat is tilted down, causing the body to arch along the spinecounter-balancing the forward tilting of the pelvis. Similarly, as seenin FIG. 3B, different tilting position of movable portion 102 may prompta user to curve his or her back to the right or to the left.

As seen on the left side of FIG. 3B (illustration (1)), which is a backview of a user of tilting device 100, the left side of the seat istilted up, causing the pelvis to tilt to the right toward aside-bending, and the body responds along the spine by counter-balancingthe side-bending tilting of the pelvis by creating a ‘C’-like curve tothe right; on the center of FIG. 3B (illustration (2)) the seat isleveled horizontally, the spine remains in its upright position; on theright side of FIG. 3B (illustration (3)) the right side of the seat istilted up, causing the pelvis to tilt to the left toward a side-bending,and the body responds along the spine by counter-balancing theside-bending tilting of the pelvis by creating a ‘C’ curve to the left.Other tilting positions may prompt the user to change his sittingposition in other directions.

Reference is now made to FIG. 4 which is a high-level block diagram of asystem 40 for controlling a seat and prompting change in sittingposition according to some embodiments of the present invention. System40 may include at least one chair 10 with a tilting device 100, tiltingdevice 100 may be in active communication with computing device 500 asdescribed herein with respect to FIG. 5, such as a desktop computer, alaptop computer, a tablet, a smartphone, a handheld wireless or wiredcontrol unit, and the like. Computing device 500 may, according to someembodiments, communicate with a remote server 400, such as a cloudserver, via a network 450 such as the Internet. Server 400 may be acomputing device as described with reference to FIG. 5 herein. Whilecomputing device 500 and server 400 are illustrated as separate devices,according to some embodiments, tilting device 100 may be incommunication with a remote computing device via a network, andcomputing device 500 may be a cloud server

According to some embodiments, computing device 500 may include anoutput device 540, such as a display or a screen. According to someembodiments, animation may be presented to the user on output device 540to show the effect the tilting scheme may have on the user's spine,sitting position and the like. Computing device 500 may further includeinput device(s) 535 to allow the user to manually control and changesetting of system 40. For example, a user may program the neutralposition (which may define, in some embodiments, a starting position) oftilting device 100, and/or create a tilting scheme according to theuser's preferences and/or according to a prescribed scheme provided by atherapist (e.g. physiotherapist). In addition, or alternatively, a usermay provide, via, for example input device 535, identifying informationto allow system 40 to identify the user, from a list of predefined usersassociated with chair 10. A tilting scheme may include definitions ofthe extent of the tilting angles on both axes of titling and both endsof movement, the relative timing of change of each angle of tilting, theduration of activation of the scheme, and the like.

Reference is made to FIG. 5, showing a high-level block diagram of anexemplary computing device according to embodiments of the presentinvention. Computing device 500 may include a controller 505 that maybe, for example, a central processing unit processor (CPU), a chip orany suitable computing or computational device, an operating system 515,a memory 520, an executable code 525, a storage 530, input devices 535and output devices 540. Controller 505 may be configured to carry outmethods described herein, and/or to execute or act as the variousmodules, units, etc. More than one computing device 500 may be included,and one or more computing devices 500 may act as the various components,for example some components shown in FIG. 4. For example, the serverdescribed herein may be, or may include components of, computing device500. For example, by executing executable code 525 stored in memory 520,controller 505 may be configured to carry out a method of controlling aseat and adjusting sitting position as described herein. For example,controller 505 may be configured to receive signals from one or moresensors 120 in tilting device 100 in FIG. 1A and use the receivedsignals to control the operation of tilting device 100 as describedherein.

Operating system 515 may be or may include any code segment (e.g., onesimilar to executable code 525 described herein) designed and/orconfigured to perform tasks involving coordination, scheduling,arbitration, supervising, controlling or otherwise managing operation ofcomputing device 500, for example, scheduling execution of softwareprograms or enabling software programs or other modules or units tocommunicate. Operating system 515 may be a commercial operating system.

Memory 520 may be or may include, for example, a Random-Access Memory(RAM), a read only memory (ROM), a Dynamic RAM (DRAM), a SynchronousDRAM (SD-RAM), a double data rate (DDR) memory chip, a Flash memory, avolatile memory, a non-volatile memory, a cache memory, a buffer, ashort term memory unit, a long term memory unit, or other suitablememory units or storage units. Memory 520 may be or may include aplurality of, possibly different memory units. Memory 520 may be acomputer or processor non-transitory readable medium, or a computernon-transitory storage medium, e.g., a RAM.

Executable code 525 may be any executable code, e.g., an application, aprogram, a process, task or script. Executable code 525 may be executedby controller 505 possibly under control of operating system 515. Forexample, executable code 525 may be an application that determines theposture of a user sitting on seat 10 (in FIG. 1A) based on inputreceived from one or more sensors of tilting device 100 (in FIG. 1B),select a tilting scheme, based on, for example, the input received fromthe one or more sensors and the identity of a user sitting on seat 10,and/or based on an input received from a user, and send instructions totilting device 100 to change tilt of seat according to the selectedscheme for example as described herein. Although, for the sake ofclarity, a single item of executable code 525 is shown in FIG. 5, asystem according to embodiments of the invention may include a pluralityof executable code segments similar to executable code 525 that may beloaded into memory 520 and cause controller 505 to carry out methodsdescribed herein. For example, units or modules described herein (e.g.,tilting device 100) may be, or may include, controller 505 andexecutable code 525.

In some embodiments, executable code 525 may be executed by controller505 or controller 105 and may include instructions to control a tiltingdevice, such as tilting device 100 of an exercising chair (e.g., acontrollable chair 10) and prompting an exercise scheme in a sittingposition, as to cause movements of a spinal column of a user whilesitting on the chair. Executable code 525 may include instructions toreceive one or more exercise schemes according to embodiments of theinvention and control at least one actuator 206A and/or 206B to performthe one or more exercise schemes, as discussed in details with respectto the methods of FIGS. 7A and 7B. Storage 530 may be or may include,for example, a hard disk drive, a floppy disk drive, a Compact Disk (CD)drive, a CD-Recordable (CD-R) drive, a Blu-ray disk (BD), a universalserial bus (USB) device, Flash memory or other suitable removable and/orfixed storage or memory unit. In some embodiments, some of thecomponents shown in FIG. 5 may be omitted. For example, memory 520 maybe a non-volatile memory having the storage capacity of storage 530.Accordingly, although shown as a separate component, storage 530 may beembedded or included in memory 520. Memory 520 and/or storage 530 maystore, according to some embodiments, at least one of: tilting schemes,users' weights, users' exercise scheme preferences, users' treatmentneeds, users' identification information and the like.

Input devices 535 may be or may include a mouse, a keyboard, a touchscreen or pad, sensors or any suitable input device. It will berecognized that any suitable number of input devices may be operativelyconnected to computing device 500 as shown by block 535. Output devices540 may include one or more displays or monitors, speakers and/or anyother suitable output devices. It will be recognized that any suitablenumber of output devices may be operatively connected to computingdevice 500 as shown by block 540. Any applicable input/output (I/O)devices may be connected to computing device 500 as shown by blocks 535and 540. For example, a wired or wireless network interface card (NIC),a printer, a universal serial bus (USB) device or external hard drivemay be included in input devices 535 and/or output devices 540.

Embodiments of the invention may include an article such as a computeror processor non-transitory readable medium, or a computer or processornon-transitory storage medium, such as for example a memory, a diskdrive, or a USB flash memory, encoding, including or storinginstructions, e.g., computer-executable instructions, which, whenexecuted by a processor or controller, carry out methods disclosedherein. For example, an article may include a storage medium such asmemory 520, computer-executable instructions such as executable code 525and a controller such as controller 505.

The storage medium may include, but is not limited to, any type of diskincluding, semiconductor devices such as read-only memories (ROMs)and/or Random-Access memories (RAMs), flash memories, electricallyerasable programmable read-only memories (EEPROMs) or any type of mediasuitable for storing electronic instructions, including programmablestorage devices. For example, in some embodiments, memory 520 is anon-transitory machine-readable medium.

A system according to embodiments of the invention may includecomponents such as, but not limited to, a plurality of centralprocessing units (CPU) or any other suitable multi-purpose or specificprocessors or controllers (e.g., controllers similar to controller 505),a plurality of input units, a plurality of output units, a plurality ofmemory units, and a plurality of storage units. A system mayadditionally include other suitable hardware components and/or softwarecomponents. In some embodiments, a system may include or may be, forexample, a personal computer, a desktop computer, a laptop computer, aworkstation, a server computer, a network device, or any other suitablecomputing device. For example, a system as described herein may includeone or more devices such as computing device 500 and tilting device 100.

Reference is now made to FIG. 6 which is a flowchart of a method ofcontrolling a seat and prompting change of sitting position according toone embodiment of the present invention. As may be seen in block 6000,when the tilting device is turned on, a controller of the tilting device(that may be integral to the tilting device or may be part of acomputing device associated with the tilting device) may verify that themovable portion of the tilting device is horizontal (also referred to as“in neutral position”), e.g. that the movable portion of tilting deviceis parallel to the surface on which a chair to which the tilting deviceis connected, is positioned. According to some embodiments, the neutralposition may be programmed by a user to be different from the horizontalposition.

As seen in block 6010 a signal may be received by a controller of atilting device, such as the tilting device described above, from one ormore sensors, such as load cells, indicating that a user is sitting on achair such as chair 10 in FIG. 1A. According to some embodiments, thecontroller of the tilting device or the controller of a computing deviceto which the tilting device is connected or in communication with, maydetermine the weight of the user sitting on the chair, the sittingposture of the user, for example, based on signals received from two ormore sensors, and according to some embodiments the identity of the userfrom a list of users of the chair stored in a memory. According to someembodiments the identity of the user may be determined for example,based on the weight of the user indicated by the sensors, the sittingposture of the user received from the sensors and the like, and based ona comparison of the indications received from the sensors to pre-storeddata associated with each registered user, such as each registereduser's weight, and each registered user's weight distribution over theseat when the seat is in a neutral position. In some embodiments theidentity may be determined by comparing the indications received fromthe sensors to the pre-stored data of a list of registered users. Aregistered or associated user may be, for example, a user that completeda registration process in which the user provided identifyinginformation, such as for example weight, height, name, gender, and thelike, or other information. The registration process may includereceiving for example via one or more input device (e.g. 535 in FIG. 5)and storing in storage (e.g. 530 in FIG. 5) identification information.The information may include, according to some embodiments, name,weight, height, weight distribution over the seat when the tiltingdevice is in a neutral position, gender, and the like, or otherinformation. Some of the information may be received from a userproviding the information via a keyboard, a touchscreen or any otherinput device. Other identification data may be received from the sensorsof the tilting device during registration process, for example thedistribution of weight over the seat during the registration process,when the seat is in a neutral position.

After receiving an indication that a user is sitting on the chair, andin some embodiments after the weight, posture, and/or identity of theuser is determined by the controller, the controller of either thetilting device or of the computing device may select a tilting scheme,for example, based on the determined sitting posture of the user and/orbased on pre-stored program requirements or preferences of an identifieduser (block 6020), and start tilting the tilting device according to theselected scheme (block 6030). It should be appreciated that a user mayselect a scheme manually through an input device, such as a keyboard, atouchscreen, or any other input device of the computing device describedwith reference to FIG. 5 above, or of the tilting device. For example,according to one embodiment, the computing device may be a smartphonewhich may be in active communication with the tilting device via, forexample, Bluetooth or any other short-range wireless communicationprotocols, or via, for example, wired communication, and the user mayprovide his selection of a scheme manually through a dedicatedapplication on the smartphone.

According to one embodiment of a method according to the presentinvention, the method may further include determining, by thecontroller, the duration a user is sitting in the same posture based onsignals received from one or more sensors in tilting device (block 6040)and tilting the seat of the chair, by actuators of tilting device, toprompt the user to change his sitting position (block 6050).

According to some embodiments, after a tilting scheme has ended (e.g. apredefined number of repetitions of a tilting movement has beencompleted, such as for example 15 cycles of tilting the seat of thechair backwards and forwards, around the X axis in FIG. 1A), the tiltingmay be stopped (block 6060). According to some embodiments, when atilting scheme has been completed, the user may select via the inputdevice another scheme. According to some embodiments, a user may stop ascheme while the scheme is running by pressing a stop button, a safetybreak or the like. In some embodiments, the user may select to tilt theseat to a specific tilt position via an input device, such as via theuser interface of an application on the user's smartphone, tablet,computer and the like.

According to yet another embodiment, the controller may present on anoutput device, such as a touchscreen of a smartphone, a display of acomputer and the like, one or more proposed tilting schemes,arrangements, or movement sequences for the user to select from.According to some embodiments, the proposed schemes may be presented ifno selection was received from the user within a predefined time periodfrom the end of the previous scheme.

According to some embodiments, as seen in block 6070, each tiltingsession may end with returning the tilting device, and thus the seat, toa neutral position, for example a position in which the movable portionof the tilting device, and thus the seat, are parallel or substantiallyparallel to the surface on which the chair is positioned. According tosome embodiments, a minimum rest time may be set, preventing a user fromstarting a new tilting session before a predefined rest time has elapsedsince the end of the previous session ended. The rest time may be forexample a 1 minute rest time, a 5 minute rest time or any otherpredefined rest time. It should be appreciated that the duration of therest time may be determined by the controller according to the identityof the user, the user's weight, user's exercise scheme preferences, anduser's treatment needs.

Reference is now made to FIG. 7A which is a flowchart of a method ofexercising a spinal column of a seated user according to someembodiments of the invention. The user may be seated in a controllablechair (e.g., an exercising chair) 10 having a tilting device 100. In box710, controllable chair 10 may be activated to provide at least oneexercise scheme. For example, one or more exercise schemes may be storedand programed in controller 105, for example, in storage unit such asstorage 530. In some embodiments, each exercise scheme may include: twoor more repeatable tilting movements of a seat of the controllable chairaround at least two different axes, a number of repetitions for eachtilting movement, speed and amplitude of each tilting movement. In someembodiments, the user may select a specific exercise scheme(s) forexample, via a user interface such as input device 535. In someembodiments, the exercise scheme may be preprogramed not to be selectedby the seated user, for example, by a professional (e.g., aphysiotherapist) providing therapy sessions to the user. In someembodiments, the seated user may activate titling device 100 orcontrollable chair 10 by pressing a button or a key, using a voicecommand, touching a touchscreen and the like.

In some embodiment, controllable chair 10 may be automatically and/orautonomically activated, for example, at the first time the user isseating on chair 10. In some embodiments, a sensor (e.g., sensor 120)may sense the presence (e.g., weight, pressure, etc.) of the user andactivate a preprogramed exercise scheme. The preprogramed exercisescheme may continue as long as tilting mechanism 12 is fed by a powersource (e.g., battery 111). In some embodiments, controllable chair 10may be activated manually by the user, for example, by pressing a buttonor a key, using a voice command, touching a touchscreen and the like.

In some embodiments, each repeatable tilting movement may includerepeatable tilting movement of seat 12 of controllable chair 10 aroundat least two different axes, for example, axes X and Y illustrated inFIG. 1A. In some embodiments, each repeatable tilting movement mayinclude one or more (e.g., two or more) tilting amplitudes for each ofthe at least two different axes. The tilting amplitude may be measuredin degrees or millimeter/inches and the like. For example, each tiltingmovement amplitude may have a maximum range of between −10 millimetersto +10 millimeters from horizontal position of seat 12 in the X and/or Ydirections. In some embodiments, the tilting movements may include anyone of the following four cardinals: forward tilting, backward tilting,side-bending tilting and any combination of movements of these two. Insome embodiments, tilting device 100 may allow tilting movable portion102 around two axis X and Y, and thus may provide tilting of seat 12forward, backward, sideways and to any direction in-between, asdisclosed herein above with respect to FIG. 1A, FIGS. 3A and 3B. In someembodiments, the continuous repeatable seat movements may cause theuser's spinal column to move between the body's natural vertical midlineinto a convex shape such that each vertebra moves relatively to the nextvertebra therefore, the two spine endpoint vertebrae remain stationaryin their original natural vertical position, the entire spinal columnchanges into a convex shape based on these two endpoints.

In some embodiments, the tilting movements includes a plurality oftitling directions (cardinals) each being selected to tilt the pelvis ofthe seated user onto an imaginary hour on an imaginary clock, forexample, a first tilting movement may include leaning forward by −3 mmaround the X axis and +5 mm around the Y axis which may result in thepelvis of the seated user tilting onto ten O'clock on the imaginaryclock. In yet another example, leaning sideway by −3 mm around the Yaxis and by 0 mm around the X axis may result in tilting the pelvis ontothe three O'clock. Accordingly, by providing various tilting amplitudesto the tilting movements performed by actuators 206A and 206B,controllable chair 10 may cause the pelvis of the seated user to titlein various directions.

For example, an exercise scheme according to embodiments of theinvention may a combination of tilting movements that may result is acomplete circular movement of the pelvis, a partial (e.g., and arc)circular movement of the pelvis, for example, from three O'clock to nineO'clock, or at any desired combination. In some embodiments, the two ormore tilting movements may be selected to cause convex shape movement tothe spinal column of the seated user, as discussed with respect to FIGS.3A and 3B.

In some embodiments, the two or more of repeatable tilting movements maybe continuous movements, such as to cause a continuous movement of thepelvis throughout the exercise scheme. In some embodiments, the tiltingspeed may be selected and maintained slow, such as, for example, no morethan 3 millimeters (mm) per second, or in terms of angular velocity nomore than 3.0/R radians per second, where R is the edge of theapparatus' distance from the center of tilting (e.g. the edge of movableportion 102 from joint 108). In some embodiments, the total time of eachexercise scheme may be maximum 10 minutes, for example, 5-7 minutes. Insome embodiments, the number of repetitions of each tilting movement maybe at least 3, for example, 5, 10, 20 and more. For example, an exercisescheme may include a slow circular movement of the pelvis repeated for20 times during 5 minutes of exercise.

In some embodiments, at least some of the tilting movements are modifiedbased on at least one of: age, physiological condition, neurologicalconditions, mental state or any other relevant data. For example, thespeed and number of repetitions may be determined based on the user'sage, the older the user the slower the tilting movements and the lowerthe number of repetitions.

In box 720, repeatable movements to the pelvis of the seated user may becaused as to stimulate movements of all the vertebrae throughout thespinal column of the seated user. In some embodiments, the exercisescheme may be executed by controlling actuators 206A and 206B (e.g., bycontroller 105) to be tilted at predetermined amplitudes according tothe exercise scheme.

In box 730, a predetermined resting period of at least 10 minutes may beprovided after completing any exercise scheme. In order to allow thesoft tissues in the back of the user to relax a resting period may beprovided. In some embodiments, the resting period may be provided evenif the user did not complete the exercise scheme, for example, if sensor120 detects that the user left the chair before the completing of theexercise scheme. In such case controller 105 may control actuators 206Aand 206B to stop and may initiate a new exercise scheme only if sensor120 detects that the user is reseating on chair 10 and at least 10minutes have gone since the user left the chair. Even if the user leftthe chair after completing the exercise scheme controller 105 mayinitiate a new exercise scheme only if sensor 120 detects that the useris reseating on chair 10 and at least 10 minutes have gone since thecompleting of the previous exercise scheme.

Reference is now made to FIG. 7B which is a flowchart of a method ofcontrolling an exercising controllable chair and prompting an exercisescheme in a sitting position, as to cause movements of a spinal columnof a user while sitting on the chair according to some embodiments ofthe invention. The method of FIG. 7B may be executed by a controllersuch as controller 105 or 505 or by any other suitable controller.Instructions or code for performing the method of FIG. 7B may be storedin a memory, such as memory 520 and my be included in an executablecode, such as executable code 525. In box 740, the controller mayreceive at least one exercise scheme. The exercise scheme may bereceived from a storage unit such as storage 530, may be programed bythe seated user or any other user, may be received from remote site(e.g., an application running on the user's mobile phone) and the like.The at least one exercise scheme may include two or more repeatabletilting movements of a seat of the controllable chair around at leasttwo different axes, a number of repetitions for each tilting movement,and a speed of each tilting movement. In some embodiments, the at leastone exercise scheme may include all the embodiments as disclosed herein,for example, with respect to box 710 of the flowchart of FIG. 7A orelsewhere.

In box 750, at least two actuators included in a titling deviceconnected to the chair may be controlled to perform the exercise scheme.For example, actuators 206A and 206B may be controlled by controller 105or 505 to tilt seat 12 according to the exercise scheme, for example, inorder to perform 5 complete circles (as disclosed above) and twosemi-circles, form hour three O'clock to hour nine O'clock.

In box 760, the actuators may be controlled to stop for a resting periodof, for example, at least 10 minutes after completing any exercisescheme. In some embodiments, the resting periods may change to be forexample, 15 minutes or less. In box 760, the actuators may be controlledto stop for a resting period of, for example, at least 5 (e.g., 5, 6, 7,8, and 9) minutes after completing any exercise scheme. In someembodiments, the resting period may be provided even if the user did notcomplete the exercise scheme, for example, if sensor 120 detects thatthe user left the chair before the completing of the exercise scheme. Insuch case controller 105 may control actuators 206A and 206B to stop andmay initiate a new exercise scheme only if sensor 120 detects that theuser is reseating on chair 10 and the resting period is over since theuser left the chair. Even if the user left the chair after completingthe exercise scheme controller 105 may initiate a new exercise schemeonly if sensor 120 detects that the user is reseating on chair 10 forthe resting period is over since completing of the previous exercisescheme.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents will now occur to those of ordinary skill in the art. It is,therefore, to be understood that the appended claims are intended tocover all such modifications and changes as fall within the true spiritof the invention.

1. A method of exercising a spinal column of a seated user comprising:activating a controllable chair to provide at least one exercise scheme,wherein each exercise scheme comprises: two or more repeatable tiltingmovements of a seat of the controllable chair around at least twodifferent axes, a number of repetitions for each tilting movement, speedand amplitude of each tilting movement; and causing repeatable movementsto the pelvis of the seated user as to stimulate movements of all thevertebrae throughout the spinal column of the seated user, wherein thecontinuous repeatable seat movements cause the user's spinal column tomove between the body's natural vertical midline into a convex shapesuch that each vertebra moves relatively to the next vertebra therefore,the two spine endpoint vertebrae remain stationary in their originalnatural vertical position, the entire spinal column changes into aconvex shape based on these two endpoints, wherein the controllablechair comprises: a fixed portion, connectable to a base of a chair; amovable portion connectable to a seat of the chair; a joint; positionedbetween the fixed portion and the movable portion configured to allowrelative movement of movable portion with respect to fixed portionaround the at least two axes; at least two actuators, each of theactuators connected at one end to the fixed portion and at another endto the movable portion; wherein the actuators are located in an anglewith respect to each other about the joint and configured to allowtilting of the movable portion with respect to the fixed portion, aroundat least two different axes; and a programmable controller wherein theprogrammable controller is configured to: receive and execute theexercise scheme; to modify programmable variables; communicate with theuser and with the internet; control and manage the actuators.
 2. Themethod of claim 1, wherein the tilting movement comprises at least twotilting amplitudes for each of the at least two different axes.
 3. Themethod of claim 1, wherein each tilting movement amplitude has a maximumrange of between −10 millimeters to +10 millimeters from horizontalposition of the seat.
 4. The method of claim 1, wherein the tiltingmovements includes any one of the following four cardinals: forwardtilting, backward tilting, side-bending tilting and any combination ofmovements of these two.
 5. The method of claim 1, wherein the tiltingmovements includes a plurality of titling cardinals each being selectedto tilt the pelvis of the seated user onto an imaginary hour on animaginary clock.
 6. The method of claim 1, wherein the two or more ofrepeatable tilting movements are continuous movements.
 7. The method ofclaim 1, wherein the two or more tilting movements are selected to causeconvex shape movement to the spinal column of the seated user.
 8. Themethod of claim 1, comprising: a predetermined resting period of atleast 10 minutes after completing any exercise scheme.
 9. The method ofclaim 1, wherein the total time of each exercise scheme is maximum 10minutes.
 10. The method of claim 1, wherein the number of repetitions ofeach tilting movement is at least
 3. 11. The method of claim 1, whereinat least some of the tilting movements are modified based on at leastone of: age, physiological condition, neurological conditions and mentalstate.
 12. A tilting device for controlling an exercising chair andprompting a sequence of changes in a sitting position of a user as tocause convex shape movements of a spinal column of the user whilesitting on the chair, the tilting device comprising: a fixed portion,connectable to a base of a chair; a movable portion connectable to aseat of the chair; a joint; positioned between the fixed portion and themovable portion configured to allow relative movement of movable portionwith respect to fixed portion around at least two axes; at least twoactuators, each of the actuators connected at one end to the fixedportion and at another end to the movable portion; wherein the actuatorsare located in an angle with respect to each other about the joint andconfigured to allow tilting of the movable portion with respect to thefixed portion, around at least two different axes; and a controllerconfigured to: receive one or more exercise schemes, wherein eachexercise scheme comprises: two or more repeatable tilting movements of aseat of the controllable chair around at least two different axes, anumber of repetitions for each tilting movement, speed and amplitude ofeach tilting movement; and control at least one actuator to perform theone or more exercise schemes.
 13. The device according to claim 12,further comprising at least one sensor, wherein the sensor is in activecommunication with the controller and the controller is configured tomanage and control the tilting movements within the exercise schemeaccording to reading received from the sensor.
 14. The device accordingto claim 12, wherein each tilting movement comprises at least twotilting amplitudes for each of the at least two different axes.
 15. Thedevice according to claim 12, wherein each tilting movement amplitudehas a maximum range of between −10 millimeters to +10 millimeters fromhorizontal position of the seat.
 16. The device according to claim 12,the tilting movements includes any one of: forward tilting, backwardtilting, sideways tiling and any tilting direction in-between.
 17. Thedevice according to claim 12, wherein the tilting movements includes aplurality of titling directions each being selected to tilt the pelvisof the seated user onto an imaginary hour on an imaginary clock.
 18. Thedevice according to claim 12, wherein the plurality of repeatabletilting movements are continuous exercising movements.
 19. The deviceaccording to claim 12, wherein the number of repetitions of each tiltingmovement is at least
 3. 20. The device according to claim 12, whereinthe controller is further configured to: control the actuators to stopfor a resting period of at least 10 minutes after completing anyexercise scheme.